depth_sensor_interface.h

/*
 * BSD 3-Clause License
 *
 * Copyright (c) 2019, Analog Devices, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice, this
 *    list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its
 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
#ifndef DEPTH_SENSOR_INTERFACE_H
#define DEPTH_SENSOR_INTERFACE_H

#include <aditof/frame_definitions.h>
#include <aditof/sensor_definitions.h>
#include <aditof/status_definitions.h>

#include <cstddef>
#include <functional>
#include <map>
#include <string>
#include <vector>

namespace aditof {

typedef std::function<void(Adsd3500Status)> SensorInterruptCallback;

class DepthSensorInterface {
  public:
    virtual ~DepthSensorInterface() = default;

    virtual aditof::Status open() = 0;

    virtual aditof::Status start() = 0;

    virtual aditof::Status stop() = 0;

    virtual aditof::Status getAvailableFrameTypes(
        std::vector<aditof::DepthSensorFrameType> &types) = 0;

    virtual aditof::Status
    setFrameType(const aditof::DepthSensorFrameType &type) = 0;

    virtual aditof::Status program(const uint8_t *firmware, size_t size) = 0;

    virtual aditof::Status getFrame(uint16_t *buffer) = 0;

    virtual aditof::Status readRegisters(const uint16_t *address,
                                         uint16_t *data, size_t length,
                                         bool burst = true) = 0;

    virtual aditof::Status writeRegisters(const uint16_t *address,
                                          const uint16_t *data, size_t length,
                                          bool burst = true) = 0;

    virtual aditof::Status adsd3500_read_cmd(uint16_t cmd, uint16_t *data,
                                             unsigned int usDelay = 0) = 0;

    virtual aditof::Status adsd3500_write_cmd(uint16_t cmd, uint16_t data) = 0;

    virtual aditof::Status adsd3500_read_payload_cmd(uint32_t cmd,
                                                     uint8_t *readback_data,
                                                     uint16_t payload_len) = 0;

    virtual aditof::Status adsd3500_read_payload(uint8_t *payload,
                                                 uint16_t payload_len) = 0;

    virtual aditof::Status adsd3500_write_payload_cmd(uint32_t cmd,
                                                      uint8_t *payload,
                                                      uint16_t payload_len) = 0;

    virtual aditof::Status adsd3500_write_payload(uint8_t *payload,
                                                  uint16_t payload_len) = 0;

    virtual aditof::Status adsd3500_reset() = 0;

    virtual aditof::Status
    adsd3500_register_interrupt_callback(SensorInterruptCallback &cb) = 0;

    virtual aditof::Status
    adsd3500_unregister_interrupt_callback(SensorInterruptCallback &cb) = 0;

    virtual aditof::Status adsd3500_get_status(int &chipStatus,
                                               int &imagerStatus) = 0;

    virtual Status
    getAvailableControls(std::vector<std::string> &controls) const = 0;

    virtual Status setControl(const std::string &control,
                              const std::string &value) = 0;

    virtual Status getControl(const std::string &control,
                              std::string &value) const = 0;

    virtual aditof::Status getDetails(aditof::SensorDetails &details) const = 0;

    virtual aditof::Status getHandle(void **handle) = 0;

    virtual aditof::Status getName(std::string &name) const = 0;

    virtual aditof::Status
    setHostConnectionType(std::string &connectionType) = 0;

    virtual aditof::Status initTargetDepthCompute(uint8_t *iniFile,
                                                  uint16_t iniFileLength,
                                                  uint8_t *calData,
                                                  uint16_t calDataLength) = 0;

    virtual aditof::Status
    getIniParams(std::map<std::string, float> &params) = 0;

    virtual aditof::Status
    setIniParams(const std::map<std::string, float> &params) = 0;
};

} // namespace aditof

#endif // DEPTH_SENSOR_INTERFACE_H